EP3422837A1 - Dispositif de traitement de sol, système de traitement de sol et ligne de canalisations équipée d'un moyen de codage - Google Patents

Dispositif de traitement de sol, système de traitement de sol et ligne de canalisations équipée d'un moyen de codage

Info

Publication number
EP3422837A1
EP3422837A1 EP17707249.3A EP17707249A EP3422837A1 EP 3422837 A1 EP3422837 A1 EP 3422837A1 EP 17707249 A EP17707249 A EP 17707249A EP 3422837 A1 EP3422837 A1 EP 3422837A1
Authority
EP
European Patent Office
Prior art keywords
soil treatment
treatment device
lines
soil
relative
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17707249.3A
Other languages
German (de)
English (en)
Other versions
EP3422837B1 (fr
Inventor
Eric Hardman
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Novokraft AG
Original Assignee
Novokraft AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Novokraft AG filed Critical Novokraft AG
Publication of EP3422837A1 publication Critical patent/EP3422837A1/fr
Application granted granted Critical
Publication of EP3422837B1 publication Critical patent/EP3422837B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B45/00—Machines for treating meadows or lawns, e.g. for sports grounds
    • A01B45/02—Machines for treating meadows or lawns, e.g. for sports grounds for aerating
    • A01B45/023—Perforators comprising spiking tools actively driven in a reciprocating movement through a crankshaft or eccentric mechanism
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic

Definitions

  • the invention relates to a soil treatment device for soils with turf, especially soils of sports or leisure facilities in which lines and especially piping of a lawn air conditioning device are laid, wherein the soil treatment device a plurality of movable on a support means via a lifting device, inserted into the ground and out this pull-out floor treatment elements comprises.
  • the invention further relates to a soil treatment system with a soil treatment device.
  • the present invention relates to a conduit, in particular a pipeline or an electrical line, especially a pipeline of a lawn air conditioning device for a sports or leisure facility.
  • a soil treatment device of the type mentioned is used for the care of the soil.
  • pin or thorn-like soil treatment elements can be introduced into the soil and pulled out of it again to aerate the soil. Air and water can penetrate through the punctures into the soil, which promotes the growth of the lawn through better aeration and irrigation.
  • the soil treatment elements are configured as needle-shaped injection elements for injecting a fluid into the soil.
  • Such a soil treatment device is described for example in the non-prepublished patent application DE 10 2015 115 991 of the same Applicant.
  • blade-shaped soil treatment elements are conceivable to create cuts in the soil.
  • a promotion of turf growth through improved ventilation, irrigation and loosening of the soil is particularly advantageous if pipes are laid in the soil of a lawn air conditioning device.
  • Such Rasenziertmaschines is provided for example for a sports or leisure facility and laid near the surface in an advantageous embodiment.
  • the near-surface laying allows a high energy efficiency of the lawn air conditioning device, which may be designed as a lawn heater and / or as a lawn cooling device. Due to the temperature fluctuations (think of the warming of the soil and root system in a lawn heating), there is a particular need for a turf-promoting soil care.
  • a turf having a turf of a sports or leisure facility is a soccer field that may include the playing field and its edge areas (side and goal areas, coaching zones ).
  • Other examples include a football field, a rugby field, a baseball field, a golf course that may include both the green and the fairway, or a turfed tennis court.
  • Examples of leisure facilities are public parks, such as parks.
  • a pipe laid in the ground may also be a liquid line of a turf irrigation system.
  • Irrigation systems are laid, for example, in sports facilities such as soccer fields or leisure facilities such as green areas in public areas.
  • the line laid in the floor can also be an electrical line.
  • Object of the present invention is to provide a soil treatment device of the type mentioned above and a soil treatment system, which allows a simpler treatment of the soil.
  • the soil treatment device a Detection device comprises for determining the position of the lines in the ground relative to the soil treatment device in at least one spatial direction, that the soil treatment device comprises a driving device and is self-propelled, the soil treatment device is movable relative to the lines and the soil treatment elements depending on the position of the lines in the ground are insertable.
  • position and orientation indications such as “top”, “bottom”, “horizontal”, “vertical” or the like are to be understood as referring to a proper use of the soil treatment device.
  • a soil is processed with the soil treatment device, which does not restrictively has a horizontal surface viewed as a floor.
  • the soil treatment device in particular assumes an operating state in which it is preferably positioned on the surface of the soil.
  • the soil treatment device is desirably movable along a machining direction over the ground surface and relative thereto.
  • the ground treatment device it is provided that its relative position to the lines laid in the ground can be detected by means of the detection device. In at least one and preferably three spatial directions can be determined by how the soil treatment device is positioned relative to the lines, wherein in a particularly advantageous embodiment, preferably at least the laying depth of the lines in the ground can be determined.
  • the self-propelled soil treatment device can be moved autonomously relative to the lines.
  • the soil treatment elements can be introduced into the soil. This makes it possible, for example, to ensure that the soil treatment elements are introduced only so deeply or only at such positions that damage to the lines can be avoided.
  • the soil treatment elements are selectively introduced between the lines in the soil and conveniently so deep that a depth aeration of the soil is carried out laterally next to or even below the lines.
  • the soil treatment device Since the soil treatment device is designed to be self-propelled, a labor input can largely be omitted by an operator, even larger floor areas can thereby save time and cost-saving outside work blocking times and at any time of day or night.
  • a labor input can largely be omitted by an operator, even larger floor areas can thereby save time and cost-saving outside work blocking times and at any time of day or night.
  • the detection of the position of the position of the lines and time-consuming and possibly faulty guides of the soil treatment device are avoided by an operator, which brings about the more targeted treatment of the soil addition, a further time savings.
  • the achievable with the soil treatment device according to the invention advantages for example, if you keep the usual sizes of typical to be treated soils in mind. It may be that the aerification of a golf greens with a size of about 500 m 2 by an operator appears economical.
  • the determination of the position of the lines is preferably in the range of a few centimeters, for example with an accuracy of 5 cm or less, preferably 3 cm or less. It is particularly advantageous if the soil treatment device is designed to be self-steering. The soil treatment device can thereby not only move along a main movement direction itself. The possibility to steer yourself makes it possible to treat floor areas even more versatile. Straight bottom surfaces with complex geometry may possibly only be treatable by the inventive ground treatment device.
  • the driving device may have, for example, wheels, rollers, rollers and / or track chains held on the carrying device for moving on the floor surface.
  • the soil treatment device can thus be moved automatically on the ground surface in the manner of a robot. It is conveniently designed self-steering.
  • the driving device has wheels, rollers, rollers and / or track chains held on the carrying device for the purpose of moving on a guide device that can be assigned to the ground treatment device.
  • a guide is provided at a sports facility, along which the floor treatment device can move by means of the driving device.
  • guides are positioned laterally adjacent to boundary lines of the playing field, and the ground handling device engages with the driving device in the guides.
  • the driving device can have a carrier of the carrying device extending over the playing field, on which the ground handling elements are held vertically adjustable.
  • the soil treatment device is movable relative to the ground in accordance with a predetermined movement pattern.
  • the soil treatment device is moved over the bottom surface according to a meander pattern.
  • the floor can be treated in segments by the floor treatment device, wherein different segments or areas of the floor are processed one after the other and the soil treatment device is traveled in regions according to a predetermined movement pattern.
  • Such a subdivision of the bottom surface into segments or regions is stored, for example, in the below-mentioned map of the bottom / bottom surface.
  • adjacent webs of the soil treatment device partially overlap when moving over the ground in order to ensure comprehensive coverage.
  • the soil treatment elements are injection elements, through which fluid can be injected into the soil in their soil introduced into the soil, and if the soil treatment device has a fluid supply device which is fluidically connected to the injection elements.
  • the soil treatment elements are injection elements, through which fluid can be injected into the soil in their soil introduced into the soil, and if the soil treatment device has a fluid supply device which is fluidically connected to the injection elements.
  • even better aeration and / or irrigation and at the same time a loosening of the soil can be carried out in order to promote lawn growth.
  • the aforementioned patent application DE 10 2015 115 991 the content of which is hereby fully incorporated into the present patent application, describes soil treatment elements designed as injection elements. Their design as well as the manner of applying fluid may also be provided in the present soil treatment device.
  • the fluid may be a gas or gas mixture, in particular compressed air.
  • a liquid such as, in particular, water can be used as the fluid.
  • the fluid supply device is provided by a control device of the soil treatment device for adjusting the amount of Pressure and / or the duration of the loading of the injection elements with fluid controllable. This makes it possible to carry out as required a fluid supply as possible in order to optimally treat the soil.
  • the fluid supply device can be controlled as a function of the position of the lines and / or of a condition of the base which can be determined or predefined by means of the detection device.
  • the circumstance can be taken into account that the position of the lines and / or the nature of the floor at different areas of the floor differ or differ from one another.
  • This is conceivable on the example of a soccer field, for example, because the field due to the geographical orientation and thus different exposure or shading, sprinkling, etc., has different properties and places different demands on the soil care.
  • the soil treatment elements can be designed like a pin or a pin, whereby a production as a hollow body or a production from a solid material is conceivable.
  • Other types of soil treatment elements are, for example, blade-shaped with a straight-line or curved blade to create cuts in the soil.
  • the soil treatment device may comprise a control device. This may be part of the detection unit or vice versa or be coupled to the detection unit.
  • the relative position of the soil treatment device and the lines is preferably determinable in at least two and preferably three spatial directions.
  • a laying depth of the lines in the ground can be determined with the detection device.
  • a direction of progression of the lines in the ground can be determined, ie. in particular in a plane parallel to the floor surface and, for example, at a constant or substantially constant laying depth.
  • the soil treatment apparatus is preferably moved according to a main movement direction, for example according to a predetermined movement pattern, along the (running direction) of the lines.
  • the course direction can be detected and / or is expected by the soil treatment device, for example, from a map of the soil in which the position of the lines is stored.
  • the lifting device can be designed in an advantageous implementation so that the soil treatment elements are vertically inserted into the ground.
  • the lifting device can be controlled by a control device of the soil treatment device and if the soil treatment elements can be inserted into the soil as follows, depending on the position of the lines:
  • the laying depth of the lines is known to the soil treatment device, for example, it is stored in a storage device.
  • the detection of the relative position of the lines to the soil treatment device can thereby be advantageously limited to a course of the lines in the ground.
  • the insertion depth of the soil treatment elements can be kept constant or substantially constant. It is also conceivable that the insertion depth can be adapted with an activatable by the control device adjustment device.
  • the floor treatment elements are height-adjustable held on the holding device.
  • the detection device has a suitability for detecting the lines in order to determine their relative position to the soil treatment device. This makes it possible to detect the lines themselves by means of the detection device. From a detection signal, the relative position of the lines to the soil treatment device can be determined.
  • a magnetic or electrical detection of the lines which may have a magnetic or electrical coding for this purpose, proves to be advantageous.
  • the soil treatment device advantageously has a storage device in which a card of the soil to be treated is stored or storable.
  • card means any information by means of which the soil treatment device can determine which geographical area is to be treated.
  • a contoured area of the floor surface at the top of the floor may also be considered a "map". be.
  • the soil treatment device regards the soil, arranged as it were “below” the ground surface and covered by it, with the pipes arranged therein.
  • the surround of the floor surface may or may not be continuous.
  • a non-continuous enclosure of the floor surface defining a map of the floor is defined, for example, by landmarks that determine the position of the soil to be worked and can be detected by the soil treatment device. Such landmarks will be discussed below.
  • the position of the lines in an advantageous embodiment preferably changeable deposited by the fact that the position of the lines is deposited with a position information in a relative reference system, which is defined by at least one stored in the map landmark in a predetermined spatial relationship to the lines , wherein by means of the detection device, the relative position of the soil treatment device and the at least one landmark is detectable for determining the position of the lines relative to the soil treatment device.
  • a relative reference system which is defined by at least one stored in the map landmark in a predetermined spatial relationship to the lines
  • the detection device the relative position of the soil treatment device and the at least one landmark is detectable for determining the position of the lines relative to the soil treatment device.
  • the position of the lines in the card preferably changeable deposited by the position of the lines is deposited with a position information in an absolute reference system, by means of the detection device, the position of the soil treatment device in the absolute position system can be determined.
  • an absolute positioning system for example, a satellite-based navigation system (GPS, etc.) can be used, based on which the soil treatment device moves.
  • the location of the lines can be determined with absolute position data based on the information in the map.
  • landmarks all possible navigation aids can be used, which can be detected by the detection device. For example, boundary lines of a playing field (such as a soccer field) are regarded as landmarks, also gates, corner flags, trainer benches, stands, staircases, etc. It is advisable to use non-contact detectable landmarks, for example by radio link and / or visually. It is conceivable in particular the use of radio landmarks positioned in a known manner relative to the ground, which can be detected via a Bluetooth or RFID technology.
  • the position of at least one landmark in a predetermined spatial relationship to the ground is deposited in the map, whereby the relative position of the soil treatment device and the at least one landmark can be detected by means of the detection device, and if in the method of the soil treatment device relative to the ground ,
  • the position of the lines relative to the soil treatment device can be determined.
  • the soil treatment device moves over the bottom surface, whereby it can orientate itself on the at least one landmark.
  • Information regarding the at least one landmark is stored in the map.
  • the relative position of the lines to the soil treatment device can be determined in order to introduce the soil treatment elements in the correct desired position in the ground.
  • a check of the thereby determined relative position is performed with the position of the lines, which is deposited in the map in the absolute or relative reference frame, wherein in the case of a deviation, the position of the lines in the Map can be updated.
  • an adjustment of the movement of the soil treatment device relative to the ground is carried out in order to ensure insertion of the soil treatment elements at the intended desired position.
  • the floor treatment elements can be moved relative to the support device in order to ensure insertion of the floor treatment elements at the intended desired position.
  • the soil treatment elements are fixed to a holding device, which is at least partially movable relative to the support means and in particular displaceable, preferably in a plane parallel to the bottom surface.
  • the soil treatment device may continue to travel in accordance with a movement pattern, the holding device may be moved relative to the carrying device and, in particular, displaced, so that the soil treatment elements can be introduced into the soil at the desired position.
  • the location of the lines is conveniently stored changeable, wherein upon a determination that the determined by means of the detection device location of the lines of the stored in the map position in the relative or absolute reference system, an updating of the position of the lines in the card feasible is.
  • the card may be provided, for example, by an operator in the storage device.
  • the card will be wireless or wired. bonded by an external control device by the operator to the soil treatment device.
  • a learning run can be carried out by the ground treatment device, with the position of the lines and / or at least one landmark being determined in a relative and / or an absolute reference system.
  • the information collected during the learning trip can be used to create the map.
  • the learning trip can also be done under the guidance of an operator.
  • the at least one detection device is or has at least one of the following sensor devices:
  • a magnetic sensor device for detecting a magnetic field
  • an electrical sensor device for detecting a conductive and / or polarizable material
  • an optical sensor device in the visible and / or infrared and / or ultraviolet spectral range, in particular comprising a digital camera and / or a laser scan sensor device;
  • an absolute position sensor device in particular for a satellite-based navigation system
  • a radio sensor device in particular comprising a Bluetooth sensor or an RFID sensor
  • a thermal sensor device which, for example, pipes of a Rasenloom- or lawn cooling device can be detected during operation. This makes it possible to close due to an existing temperature difference between the lines and the surrounding soil on the position of the lines.
  • the temperature of the lines is higher in a lawn heater than the temperature of the soil, deeper in a lawn cooler.
  • Information that is detected by the at least one sensor unit can be extracted, for example, by means of triangulation and / or digital image processing methods and evaluated for detecting the position of the at least one landmark and / or the position of the lines.
  • sensors or a sensor device of the detection device are arranged in a leading direction on the soil treatment device in a processing direction.
  • the sensors or the sensor device can detect, in particular, the lines arranged upstream of the soil treatment device in the ground.
  • the further process of the soil treatment device may, if necessary, changed their course and / or the soil treatment elements are moved relative to the support means as proposed above.
  • the floor treatment elements are favorably, as mentioned, held on a common holding device associated with them, wherein the holding device preferably at least partially relative to the support means in at least one spatial direction transversely to the insertion and Auszieh warmth depending on the determined position of the lines movable and in particular displaceable.
  • This advantageously gives, in particular, the possibility of keeping the direction of travel constant or substantially constant, for example in accordance with the predetermined movement pattern. Rather minor corrections to the position of the soil treatment elements may be made by moving the soil treatment elements relative to the support to allow them to be inserted into the ground at the correct desired position.
  • the method of the soil treatment device relative to the ground a movement according to a predetermined movement pattern is maintained or substantially maintained, and the holding device is at least partially movable relative to the support means and in particular displaceable.
  • the holding device may have a support part, which is fixed to the support device, and a movable to this holding part, on which the soil treatment elements are held.
  • the soil treatment elements are detachable, for example in order to be exchanged for other soil treatment elements.
  • the soil treatment elements are held on a holding part of the holding device, which can be detached from the soil treatment device and replaced by another holding part with different types of soil treatment elements. This allows a structurally simple and user-friendly way the ability to provide a versatile soil treatment device, with the different types of soil treatment can be made.
  • Exchangeable soil treatment elements include, for example, injection elements, pin or mandrel-shaped or blade-shaped soil treatment elements.
  • a holding device which comprises suitable tools for superficial care of the floor surface.
  • suitable tools for superficial care of the floor surface are, for example, spring-mounted elements for "grooming" the bottom surface, bristles or tines for brushing or rake or flattening the bottom surface.
  • a mowing tool that can be set or fixed in the soil treatment device, in particular in exchange for the soil treatment elements.
  • a receiving device for Rasenschnittgut be provided, a device for detecting the state of the vegetation (such as with respect to a check on plant diseases) and / or a snow removal device to free the bottom surface of snow.
  • a fixed or fixable tool is a tool for drawing lines on the floor surface to call, which can be used to mark playing surfaces as in a football field. Advertising or logos, for example on the sidelines, could also be drawn.
  • the soil treatment device may be battery operated.
  • the at least one battery may be rechargeable and / or replaceable.
  • the soil treatment device comprises a drive based on a fossil fuel and / or a fuel cell drive.
  • the present invention also relates to a line.
  • a line according to the invention which is in particular a pipeline of a lawn air conditioning device for a sports facility, for detection by a floor treatment device of the aforementioned type, wherein the line has a coding device detectable by the detection device of the floor treatment device.
  • the coding device allows the detection device of the soil treatment device to detect the line, so that the position of the line in at least one spatial direction relative to the soil treatment device can be determined.
  • the coding device is integrally incorporated in the line, for example cast in, injected, rolled or drawn. It can also be provided that the coding device is formed by the line as such.
  • a marking or inscription of the line may include or form the coding device.
  • a magnetically effective coding device proves to be particularly advantageous.
  • a magnetic or Magnetisierba- res material is drawn into the pipe, poured or injected, whereby the pipe can be effectively detected by a magnetic sensor device.
  • the conduit is, for example, a pipeline having an outer wall and an inner wall, wherein the coding device is preferably positioned between the outer wall and the inner wall.
  • the pipeline for example, has a diameter of about 10 mm to 30 mm, especially in a lawn air conditioning device.
  • the line may in particular be a composite pipe, for example a plastic-metal composite pipe.
  • the present invention also relates to a soil treatment system.
  • a soil treatment system according to the invention which comprises a soil treatment device of the aforementioned type and at least one landmark detectable by the detection device of the soil treatment device, which can be brought to the lines in a defined spatial position.
  • the advantages mentioned in explaining advantageous embodiments of the soil treatment device using the at least one landmark can also be achieved by the soil treatment system.
  • the at least one landmark is preferably an optical landmark and / or radio landmark.
  • the at least one landmark is freely positionable.
  • a plurality of landmarks is provided, which are freely positionable relative to each other and / or which are distinguishable from the soil treatment device.
  • the soil treatment system comprises a station for the soil treatment device, which is automatically searchable by the latter for the replacement and / or filling and / or reloading of an operating component or a fuel.
  • the autonomy of the soil treatment device can be increased.
  • the soil treatment device comprises at least one rechargeable or replaceable battery which is rechargeable or replaceable at the station, a reservoir for refillable at the station fuel and / or that the station has a Fluidnach Stahl- direction for filling a fluid supply device of the soil treatment device.
  • This makes it possible to charge or replace the battery, to fill up the reservoir and / or to fill up the fluid supply device.
  • the duration of use of the soil treatment device can be extended.
  • an exchange of the soil treatment elements can preferably be carried out automatically.
  • FIG. 1 shows a plan view of a sports facility (soccer field) to be treated with a ground treatment system according to the invention comprising a ground treatment device according to the invention; an enlarged view of detail A in Figure 1; a schematic side view of the soil treatment device of Figure 1; a schematic block diagram of the soil treatment device of Figure 1; a schematic block diagram of a soil treatment device associated station of the soil treatment system of Figure 1; a schematic partial view of a conduit according to the invention, designed as a pipeline;
  • FIG. 7 shows a further schematic illustration of a device according to the invention
  • Pipe designed as a pipeline
  • FIG. 13 shows a representation corresponding to FIG. 1 in a further embodiment of the soil treatment system according to the invention.
  • FIG. 1 shows a schematic plan view of a preferred embodiment of a soil treatment system according to the invention, which is occupied by the reference numeral 10 and is hereinafter referred to simplifying as "system".
  • the system 10 comprises an advantageous embodiment of a ground treatment device according to the invention, identified by the reference numeral 12 and hereinafter referred to as “device” for simplicity.
  • FIG. 1 further shows a sports facility 14 configured as a football field 16.
  • a floor 18 to be treated by the system 10 is understood, including the floor area 20 delimiting it on the top, including any markings 22 attached thereto (goal lines, side lines, etc.). and border areas (Toraus, 39aus etc.) is counted.
  • the ground 18 comprises a turf 24.
  • the turf 24 may be a natural turf and especially a turf, or a so-called “hybrid turf” comprising a mixture of artificial turf and natural turf.
  • lines 26 of a lawn are laid.
  • the lines 26, which will be discussed below, are pipelines at a laying depth of about 7 cm to 15 cm below the bottom surface 20.
  • the lines 26 are laid in the longitudinal direction of the football field 16 and arranged equidistant from each other.
  • the lines 20 are laid in the transverse direction of the football field 16 or in a different orientation.
  • the distance For example, adjacent lines 26 is about 10 cm to 30 cm.
  • a laying device can be used, as described in DE 10 2014 105 577 A1 or the non-prepublished patent application DE 10 2015 110 547.
  • the near-surface laid lines 26 allow high energy efficiency of the lawn air conditioning device, since the heat loss from the position of the lines 26 to the bottom surface 20 can be kept low.
  • FIG. 6 shows a first preferred embodiment 30 of a line 26 according to the invention, which can be used for detection by the device 12.
  • the line 30 is configured as a pipe 32, which is in particular a composite pipe.
  • the conduit 32 has an outer wall 34 and an inner wall 36 which encloses a lumen 38.
  • the composite tube comprises an outside, first plastic layer 40 and an inside, second plastic layer 42 and an intermediate metal layer 44.
  • the plastic layers 40, 42 include polypropylene (PP) or polyethylene (PE) and the metal layer 44 aluminum, so that it in the Pipe 32 may be a PP-AI composite pipe or a PE-AI composite pipe.
  • the line 30 further comprises an encoder 46 with coding elements 48.
  • the coding elements 48 are preferably integrally inserted into the line 30. works, for example, by drawing, pouring or rolling.
  • the coding elements 48 are magnetically effective and in particular made of a magnetic, especially ferromagnetic material.
  • the coding elements 48 are designed as magnetic threads or wires which are embedded in the first plastic layer 40 and extend in the longitudinal direction of the line 30.
  • the coding elements 48 are distributed homogeneously and / or distributed over the entire circumference of the line 30.
  • FIG. 7 shows a further advantageous embodiment of a line 26 according to the invention, designated by the reference numeral 50.
  • the line 50 is likewise embodied as a pipeline 52 for interacting with the device 12.
  • the coding elements 48 are magnetic particles 54.
  • the particles 54 are preferably embedded in the first plastic layer 40, for example by pouring. Conveniently, the particles 54 are arranged homogeneously and / or over the entire circumference of the conduit 50.
  • the lines 30 or 50 can be detected by means of a magnetic sensor device. This makes it possible to determine the position of the lines 30, 50 in the bottom 18 on the basis of the magnetic sensor device.
  • the outer diameter of the lines 30 and 50 is in each case about 25 mm with a wall thickness of about 2.5 mm and an inner diameter of about 20 mm.
  • the device 12 comprises a carrying device 56, which in the present case is designed as a support frame 58. On the support frame 58, a driving device 60 is held.
  • the driving device 60 in the present case comprises wheels 62 and a traction drive, not shown in the drawing, with which at least part of the wheels 62 can be driven.
  • the use of at least two travel drives, which are assigned to a respective wheel 62, is conceivable here, using an electronic differential. It is also conceivable to use at least one steerable wheel 62.
  • the driving device 60 is designed so that the device 12 is self-propelled and self-steering.
  • the driving device 60 can be controlled by a control device 64 of the device 12 in a suitable manner in order to move it over the bottom surface 20.
  • a control device 64 of the device 12 is controlled by a control device 64 of the device 12 in a suitable manner in order to move it over the bottom surface 20.
  • the device 12 is moved in accordance with a predetermined movement pattern.
  • this is indicated in FIG. 1 by means of a dashed line 66, in particular the method according to a meander pattern can be advantageous.
  • the orientation of the tracks of the meander pattern is preferably selected so that the main movement or machining direction of the device 12 extends in the direction of the lines 26, the position of which is determined as explained below.
  • the spacing between adjacent webs of the meander pattern can be selected, for example, such that a respective work area that can be detected by the device 12 adjoins a work area that is detected during the process along the adjacent web.
  • An overlap of adjacent work areas, which are recorded when moving along adjacent webs, is also possible. borrowed.
  • the bottom surface 20 can be processed by the device preferably comprehensively as explained below.
  • the bottom surface 20 is treated in areas, for example, this is divided into individual segments, which are sequentially traveled on the basis of a respective predetermined movement pattern of the device 12.
  • the device 12 comprises a memory device 68 in operative connection with the control device 64, in which a corresponding movement pattern can be stored.
  • Wheels 62 are held on a front side 70 and a rear side 72 on the support frame 58.
  • "Front side” and “rear side” are to be understood here in terms of a machining direction 74.
  • the machining direction 74 corresponds to a main movement direction of the device 12 in the intended use when moving over the bottom surface 20.
  • the device 12 comprises a sensor device 76, which is coupled to the control device 64. It is also conceivable that the sensor device 76 is integrated in the control device 64 or is formed by it or vice versa.
  • the sensor device 76 and the control device 64 together form a detection device 78, indicated by the dashed line 66, of the device 12, which preferably has a plurality of sensors.
  • the sensor device 76 comprises at least one magnetic sensor 80 and a radio sensor 82, so that the sensor device 76 likewise forms a magnetic sensor device and a radio sensor device.
  • Other sensors indicated in Figure 4, may also be present.
  • the magnetic sensor 80 is presently arranged on the front side 70 in the machining direction 74 leading to the device 12.
  • a sensor rich 84 of the magnetic sensor 80 is directed in the direction of the bottom 18 ( Figure 3). This makes it possible to detect the lines 26 even when the device 12 is being detected by the detection of the coding device 46.
  • a related sensor signal can be evaluated by the detection device 78 in order to determine the relative position of the lines 26 to the device 12. In this case, both the laying depth of the lines 26 can be determined and their course in the two other spatial directions in the bottom 18, in particular parallel to the bottom surface 20th
  • the radio sensor 82 is configured to receive a radio signal that can be emitted by radio landmarks 86 of the system 10.
  • the radio landmarks 86 are in particular Bluetooth landmarks for emitting a Bluetooth signal and the wireless sensor 82 accordingly a Bluetooth receiver.
  • UWB landmarks and a UWB sensor can be used.
  • the radio landmarks 86 are provided with a respective identification, so that the detection device 78 can determine the signal of which radio landmark 86 is detected in which strength. By means of, for example, triangulation, the detection device 78 can thereby determine the relative position of the device relative to the radio landmarks 86.
  • the radio landmarks 86 are positioned around the soccer field 16 in such a way that it is ensured that sufficient radio signals can be received by the detection device 78 at each point of the soccer field 16 in order to be able to make an unambiguous position determination.
  • the landmarks 86 are preferably arranged in the ground. It may alternatively or additionally be provided that radio landmarks are also arranged in the floor 18 in the area of the playing field interior in order to ensure this.
  • a map of the soil to be treated, including the location of the radio landmarks 86, is stored in the memory device 68. In this way, by determining the position of the device 12 relative to the radio landmarks 86, it can be determined which position the device 12 occupies on the soccer field 16.
  • the radio landmarks 86 thereby define a relative frame of reference, in which preferably also the position of the lines 26 is stored in the card. This makes it possible, in particular, to determine the position of the lines 26 relative to the device 12 by determining the relative position of the device 12 relative to the radio landmarks 86, without the lines 26 having to be detected by the detection device 78 and located with regard to their position.
  • an optical sensor 88 of the sensor device 76 is used to detect the further landmarks.
  • the optical sensor 88 is or includes, for example, a digital camera or a laser-scan sensor device.
  • visually evaluable landmarks for example, markings or boundaries on the field can be used, gates, corner flags, trainer benches, grandstands, staircases, etc.
  • the position determination of the device 12 relative to the radio landmarks 86 for conformity is checked by determining the position of the device 12 relative to the optical landmarks and using the relative position of the optical landmarks and radio landmarks 86 Checking the position determination is performed.
  • an absolute position sensor 90 can be used.
  • absolute position data of the lines 26 and / or landmarks such as the wireless landmarks 86 are stored in the map. Even if the position of the lines 26 is stored in the card and in this way it can be determined by detecting the landmarks, such as the relative position of the device 12 and the lines 26, it is advantageous if such a determination also, as already can be performed using the magnetic sensor 80 during movement of the device 12.
  • the device 12 comprises soil treatment elements 92 for treating the bottom 18. These are in the present case designed as injection elements 94 and have the shape of hollow-body-shaped needles 96.
  • a plurality of needles 96 are provided in successive rows with respect to the longitudinal direction of the device 12 and laterally are positioned next to each other ( Figure 2).
  • the needles 96 preferably take lattice sites of a hexagonal lattice.
  • the lateral spacing of the needles 96 transverse to the longitudinal direction of the device 12 is chosen so that it preferably coincides with the distance of the lines 26 in the bottom 18.
  • the holding device 98 For holding the needles 96 on the support means 56, a holding device 98 is provided.
  • the holding device 98 comprises a holding part 100, on which the needles 98 are held together, and a support part 102.
  • the holding device 98 is movably supported on the support frame 58.
  • An adjusting device 104 configured as a displacement device 106, allows the displacement of the holding device 98 relative to the support frame 58 in the longitudinal direction of the device 12th
  • a lifting device 108 designed as a displacement device 110, allows the lifting and lowering of the holding device 98 relative to the support frame 58.
  • Arrows 116, 118 symbolize the possibility of displacement of the holding device 98 relative to the support frame 58.
  • the holding device 98, the needles 96 and the lifting device 108 are so configured so that the needles 96 can be vertically inserted into the floor 18 and lifted out of it.
  • the holding part 100 is also movable relative to the support part 102. Preferably, a movement in a plane transverse to the insertion and withdrawal direction of the needles 96 is possible, ie in particular in the longitudinal direction and in the transverse direction of the device 12.
  • a displacement device 120 For displacing the holding part 100 in the longitudinal direction of the device, a displacement device 120 is provided. For displacement in the transverse direction, a displacement device 122 is used (FIG. 4). Arrows 112 and 114 in Figure 2 symbolize the possibility of displacement of the holding part 100 relative to the support member 102nd
  • the displacement devices 106, 110, 120 and 122 can be pneumatically, hydraulically, mechanically, magnetically and / or electrically actuated and can be actuated separately by the control device 64.
  • the apparatus 12 includes a fluid delivery device 124 to provide the needles 96 with fluid and, in particular, a gas mixture such as compressed air.
  • the fluid supply device 124 has a fluid container 126 (shown only in FIG. 3), which is held on the support frame 58, for example.
  • the fluid container 126 not shown in the drawing, communicates with the needles 96 in fluid communication.
  • fluid lines are provided, in which can be switched by the control device 64 controllable valves (not shown).
  • the controller 64 may further control, for example, a compressor of the fluid delivery device 124 to provide fluid in the fluid container.
  • the fluid is preferably compressed air, with which the bottom 18 can be acted upon by the needles 96.
  • compressed air is injected into the bottom 18 under control of the control device. This has in particular the effect that are formed by the displacement of the soil 18 channels through which air and water can penetrate better into the ground 18.
  • the bottom 18 is loosened by the compressed air injection so that air and water 18 can spread better in the soil, the drainage effect is increased and also receives the roots of turf 24 better propagation options. As a result, the growth of the turf vegetation 24 can be promoted thereby.
  • the controller 64 may control the duration of the compressed air injection, the amount and / or pressure, and the number of pressure surges.
  • the operation of the device 12 will be discussed below with reference in particular to FIGS. 1 to 3 and 8 to 12. It is assumed that the device 12 has an order for treating the bottom 18, namely for the aerification of the bottom 18 with compressed air.
  • the device 12 can determine its relative position to these and thus also relative to the soccer field 16. As mentioned, preferably the relative position to the lines 26 is already determined on the basis of the information stored in the map.
  • the device moves over the football field 16 according to the predetermined movement pattern, for example the meander pattern.
  • the course of the movement pattern can be secured on the basis of the position information of the radio landmarks 86.
  • the device 12 can already determine its relative position to the lines 26 with high accuracy (to less than about 3 cm). This is preferably also used to align the machining direction 74 along the direction of the lines 26.
  • the relative position of the conduits 26 to the device is significant in that the needles 96 are inserted into the spaces between the conduits 26 in the floor. the 18 should be introduced.
  • the penetration depth of the needles 96 is preferably so great that the needles 96 at least until the laying depth of the lines 26 and preferably even deeper into the bottom 18 engage. As a result, damage to the lines 26 through the needles 96 can be avoided. On the other hand, it is ensured that a depth aeration below the lines 26 can also be carried out.
  • the floor 18 is therefore loosened and vented from the area of effectiveness of the aeration below the ducts 26 to the surface.
  • the relative position of the device 12 to the leads 26 may also be determined (to less than about 3 cm). The situation thus determined can be checked for compliance with the information from the map. Any errors in the position determination can be minimized or even eliminated in this way.
  • the position of the lines 26 to the device 12 can be determined and checked for conformity with the expected position.
  • the device 12 can continue its travel according to the movement pattern for further treatment of the bottom 18.
  • the device 12 If the deviation is above a threshold value, it is possible for the device 12 to perform a heading and position correction, in that the control device 64 controls the driving device 60 in a suitable manner.
  • the device 12 continues its travel according to the movement pattern and the holding part 100 relative to the support member 102 is moved so that it is ensured that the needles 96 are inserted in the desired desired position in the bottom 18.
  • a displacement in the transverse direction 114 is usually sufficient, however, alternatively or additionally, a displacement in the longitudinal direction 112 can take place.
  • the bottom 18 can be treated quickly and with high precision. It can be ensured that the aeration is carried out via the needles 96 in the correct desired position relative to the lines 26 in order to achieve the best possible soil treatment result and to avoid damage to the lines.
  • Figures 8 to 12 show schematically the operation of the device 12 during the process of carrying out the compressed air injection and displacing the retainer 98 relative to the support frame 58.
  • the device 12 is moved at preferably constant speed along the machine direction 74 and compressed air is applied in successive processing cycles injected into the ground 18. Successive treatment areas 128 are successively supplied with compressed air.
  • the retainer 98 is raised at the beginning of the processing cycle and toward the front of the machine Support frame 58 is moved ( Figure 8).
  • the control device 64 first causes the lowering of the holding device 98 by inserting the needles 96 in the bottom 18 in the correct desired position to the lines 26.
  • the holding part 100 can be moved to the support member 102.
  • the needles 96 remain stationary at this position, with relative movement to the support frame 58, which, as it were, "moved past” the holding device 98.
  • the needles 96 are moved further relative to the support frame 58, because it moves continuously in the machining direction 74 ( Figure 11).
  • the holding device 98 is then advanced at a speed relative to the support frame 58 in the machining direction 74, which is greater than the feed rate of the device 12.
  • the holding device 98 so to speak, retrieves the support frame 58, so that the needles 96 again reach the front of the Support frame 58 are moved.
  • FIGS 1 and 5 also show schematically a station 132, which is part of the system 10.
  • the station 132 may be visited by the device 12 for refilling, reloading and / or replacing an operating component and / or an operating material.
  • the station 132 comprises a control device 134 and a communication device 136, which can communicate with a corresponding communication device 138 of the device 12. For example, device 12 may send a message to station 132 that it will return to station 132 for maintenance. The station 132 may thereby be brought into a maintenance ready state.
  • the station 132 has a loading or filling device 140.
  • an energy storage 142 of the device 12 can be reloaded or filled. If the energy store 142 is a battery, the charging or filling device 140 can be used to charge the battery. If the energy store 142 is a reservoir for a consumable, for example a fossil fuel, the loading or filling device 140 can fill the reservoir with new fuel if necessary.
  • the station 132 may further include a fluid refilling device 144 that may, for example, re-fill the fluid reservoir 126 of the fluid delivery device 124 with fluid once the device 12 has returned to the station 132 for service.
  • a fluid refilling device 144 may, for example, re-fill the fluid reservoir 126 of the fluid delivery device 124 with fluid once the device 12 has returned to the station 132 for service.
  • the device 12 may include guards or sensors, not shown in the drawing, for detecting the amount and / or consumption of an operating component. Depending on this, the controller 64 may decide whether and when the device 12 automatically returns to the station 132 for maintenance.
  • FIG. 13 shows in a manner corresponding to FIG. 1 a further preferred embodiment of a soil treatment system 150 according to the invention with an advantageous embodiment of a soil treatment device 152 according to the invention, referred to below as system 150 or device 152.
  • the device 152 is self-propelled, but it is not intended that the device 12 be self-steering.
  • the device 152 comprises a support means having a support 154.
  • the support 154 may extend over the football field 16, for example, and is connected at opposite sides to upwardly extending supports 156.
  • a driving device is arranged on the lower side on the carriers 156 and has, for example, rollers or runners, which can engage in a respective corresponding guide 158.
  • the guides 158 may, for example, extend parallel to the soccer field 16 and allow the device 152 to travel over its entire length.
  • the traction drive itself is not shown in the drawing, but it is as in the device 12 of the control device 64 controllable.
  • the device 152 comprises a support frame 160 of the support means, which is held on the carrier 154 is laterally displaceable.
  • a related drive can be controlled by the control device 64.
  • the above configuration makes it possible to move the device 152 in the longitudinal direction of the playing field according to the arrow 162 and in the transverse direction of the playing field according to the arrow 164.
  • the device is designed such that the bottom 18 can be treated and in particular aerified over the entire size of the soccer field 16, as described above using the example of the system 10.
  • the system 150 is designed in the same way as the system 10, so that reference can be made to the above statements to avoid repetition.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Soil Working Implements (AREA)

Abstract

L'invention concerne un dispositif de traitement de sol destiné à des sols (18) pourvus d'un gazon (24), en particulier des sols (18) d'équipements de sport ou de loisir (14), dans lesquels sont posés des lignes (26) et en particulier des lignes de canalisations (30, 50) d'un moyen de conditionnement de gazon (28). Le dispositif de traitement de sol (12 ; 152) comporte une pluralité d'éléments de traitement de sol (92), insérables dans le sol et retirables de celui-ci, qui sont montés de façon mobile sur un moyen de support (56) par l'intermédiaire d'un moyen de levage (108). Pour fournir un tel dispositif de traitement de sol qui permet un traitement plus simple du sol, selon l'invention le dispositif de traitement de sol (12 ; 152) comporte un moyen de détection (78) destiné à déterminer la position des lignes (26) dans le sol (18) par rapport au dispositif de traitement de sol (12 ; 152) dans au moins une direction spatiale et le dispositif de traitement de sol (12 ; 152) comporte un moyen de roulement (60) et est conçu pour être autopropulsé. Le dispositif de traitement de sol (12 ; 152) est mobile par rapport aux lignes (26) et les éléments de traitement de sol (92) sont insérables dans le sol (18) en fonction de la position des lignes (26). L'invention concerne en outre un système de traitement de sol et une ligne, en particulier une ligne de canalisations ou une ligne électrique.
EP17707249.3A 2016-03-03 2017-02-23 Dispositif de traitement de sol Active EP3422837B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016103853.9A DE102016103853A1 (de) 2016-03-03 2016-03-03 Bodenbehandlungsvorrichtung, Bodenbehandlungssystem sowie Rohrleitung und/oder elektrische Leitung
PCT/EP2017/054187 WO2017148792A1 (fr) 2016-03-03 2017-02-23 Dispositif de traitement de sol, système de traitement de sol et ligne de canalisations équipée d'un moyen de codage

Publications (2)

Publication Number Publication Date
EP3422837A1 true EP3422837A1 (fr) 2019-01-09
EP3422837B1 EP3422837B1 (fr) 2021-12-15

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EP17707249.3A Active EP3422837B1 (fr) 2016-03-03 2017-02-23 Dispositif de traitement de sol

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EP (1) EP3422837B1 (fr)
DE (1) DE102016103853A1 (fr)
WO (1) WO2017148792A1 (fr)

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CN108377677A (zh) * 2018-03-27 2018-08-10 湖南省土壤肥料研究所 一种二氧化碳膨胀松土装置及方法
DE102018122086A1 (de) * 2018-09-11 2020-03-12 Novokraft Ag Bodenbehandlungsvorrichtung
DE102019003951A1 (de) 2019-06-06 2020-12-10 Martin Baumhaus iLawnMower, Ausbring-Funktion als Zusatzgerät zu Rasenmähern und Mährobotern, welches ein Ausbringen z.B. von Grassamen, Dünger und bzw. oder anderen Substanzen gleichzeitig zum Mähvorgang oder davon unabhängig im gleichen Gerät ermöglicht
ES2961284T3 (es) * 2019-08-06 2024-03-11 The Toro Co Vehículo con sistema de detección para detectar objetos en la superficie y bajo la superficie del suelo y método para controlar el vehículo

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DE2346927A1 (de) * 1973-09-18 1975-04-03 Wolf Geraete Gmbh Lenksystem und zugehoerige lenkeinrichtung fuer selbstfahrende rasenmaeher od. dgl
DE2807482C3 (de) * 1978-02-22 1981-05-27 Frielingsdorf Werkzeugmaschinen Gmbh, 5630 Remscheid Selbstfahrende Maschine zum Pflegen einer Rasenfläche
DE3573506D1 (en) * 1985-03-20 1989-11-16 Greencare Pty Ltd Improved turf aerator
US5120158A (en) * 1989-06-16 1992-06-09 Aarne Husu Apparatus and method for heating a playfield
US5036210A (en) * 1989-12-18 1991-07-30 Gas Research Institute Magnetically detectable plastic pipe
DE10152726A1 (de) * 2001-10-25 2003-05-08 Klaus J Enzmann Automatischer Rasenmäher
US6812707B2 (en) * 2001-11-27 2004-11-02 Mitsubishi Materials Corporation Detection element for objects and detection device using the same
MX2008015202A (es) * 2006-06-02 2008-12-09 Plymouth Francaise Sa Sistema de deteccion adecuado para identificar y rastrear tubos enterrados u otros cuerpos enterrados en el suelo o incrustados en trabajos de ingenieria civil.
CA2808763A1 (fr) * 2013-03-01 2014-09-01 Glen Black Aerateur de gazon a sondes multiples et dispositif automoteur
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DE102014105577A1 (de) 2014-04-17 2015-10-22 Novoter Ag Vorrichtung und Verfahren sowie Verlegeanlage zum Verlegen mindestens eines Stranges in einer Bodenfläche
DE102015110547A1 (de) 2015-06-30 2017-01-05 Novoter Ag Vorrichtung und Verfahren zum Verlegen eines Rohres
DE102015115991A1 (de) 2015-09-22 2017-03-23 Novoter Ag Bodenbehandlungsvorrichtung

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Publication number Publication date
EP3422837B1 (fr) 2021-12-15
DE102016103853A1 (de) 2017-09-07
WO2017148792A1 (fr) 2017-09-08

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